Phase Messaging Method for Time-of-flight Cameras Wenjia Yuan - - PowerPoint PPT Presentation

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phase messaging method for time of flight cameras
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Phase Messaging Method for Time-of-flight Cameras Wenjia Yuan - - PowerPoint PPT Presentation

Oct 04, 2022 136 likes •357 views

Phase Messaging Method for Time-of-flight Cameras Wenjia Yuan Richard Howard Kristin Dana Ramesh Raskar Ashwin Ashok Marco Gruteser Narayan Mandayam Rutgers University Massachusetts Institute of Technology

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Phase Messaging Method for Time-of-flight Cameras

Wenjia Yuan † Richard Howard † Kristin Dana † Ramesh Raskar ‡ Ashwin Ashok † Marco Gruteser † Narayan Mandayam † † Rutgers University ‡ Massachusetts Institute of Technology

CNS-1065463

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5/3/2014 2

Camera-Display Communication Displays Cameras

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Related work: QR codes

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[1] Kamijo et al. ICIP. 2008.

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Related work: Visual MIMO

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[1] Ashok et al. MobiCom. 2010. [2] Yuan et al. WACV. 2012. [3] Yuan et al. GlobalSip.2013

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SLIDE 5

Other related work

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[1] Schmid et al. MobiHoc. 2013. [2] Perli et al. MobiCom. 2010. [3] Mondal et al. APCC. 2012.

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Our work

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Time-of-flight Cameras Phase Messaging Array (PMA)

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Time-of-Flight Cameras

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PMD CamBoard Nano Swiss Ranger SR4050

ToF camera sensor

SoftKinetic DS311

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Time-of-Flight Cameras

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PMD CamBoard Nano Swiss Ranger SR4050

ToF camera sensor

SoftKinetic DS311

Infrared LEDs

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Time-of-Flight Cameras

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phase difference depth

SoftKinetic DS311

delay 𝜐

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SLIDE 10

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System Overview

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Extracted Message Stream Depth Image LEDs of the ToF camera Depth Recovery Sensor of the ToF camera Photo Detector Amplifier LED Phase Shifting Multiplexer Message Stream FIFO Data Format Converter Shift Register

Light Detection Phase Modulation

…… p p0 pn-1

A0 Am-1

Data Processing

Transmitter PMA

Synchronized

Receiver ToF Camera

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Phase Messaging Array (PMA)

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Light Detection LED Phase Modulation Data Processing

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Intuitive Solution

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LED

Light Detection LED Phase Modulation

Data Processing

Time-of-flight Camera

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Our Solution

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Light Detection LED Phase Modulation

Data Processing

Photo Detector

LED

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Phase Modulation

  • Phase Shifting

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Light Detection LED Phase Modulation

Data Processing

185o 280o 250o 320o

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Phase Modulation

  • Messaging and Signal Selection

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Light Detection LED Phase Modulation

Data Processing

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Phase Modulation

  • Message Recovery

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Light Detection LED Phase Modulation

Data Processing

p2 p0 p1 p3 p2 p1 p0 p3 p1 10 00 01 11 10 01 00 11 01

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Experiments

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PMA SoftKinetic DS311

Five independent experiments 8000 random bits/experiment Average accuracy 97.8%

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Experiments

  • Data rate analysis

– 9 LEDs

  • One for synchronization indicator
  • Another 8 for messaging

– 4 candidate phases => 2 bits/LED – ToF camera

  • 60 fps => 8x2x60 = 960bps

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Applications

  • Dual use of cameras

– Imaging (original use) – Communication (added channel)

  • Applications

– Object recognition: ID beacon – Navigation: path marker – Robotics: line of sight communication

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Conclusions

  • Propose a camera-display communication

methodology based on a low-cost continuous- wave ToF camera

  • Implement Phase Messaging Array (PMA)
  • Demonstrate high messaging accuracy in

experiments

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